[1]苏义鑫,石兵华,张华军,等.水面无人艇的抗追捕-逃跑策略[J].哈尔滨工程大学学报,2018,39(06):1019-1025.[doi:10.11990/jheu.201705092]
 SU Yixin,SHI Binghua,ZHANG Huajun,et al.Anti-pursuit evasion strategy of an unmanned surface vehicle[J].hebgcdxxb,2018,39(06):1019-1025.[doi:10.11990/jheu.201705092]
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水面无人艇的抗追捕-逃跑策略(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
39
期数:
2018年06期
页码:
1019-1025
栏目:
出版日期:
2018-06-05

文章信息/Info

Title:
Anti-pursuit evasion strategy of an unmanned surface vehicle
作者:
苏义鑫1 石兵华1 张华军1 李子璇1 王晨2
1. 武汉理工大学 自动化学院, 湖北 武汉 430070;
2. 中国船舶重工集团第722研究所, 湖北 武汉 430079
Author(s):
SU Yixin1 SHI Binghua1 ZHANG Huajun1 LI Zixuan1 WANG Chen2
1. School of Automation, Wuhan University of Technology, Wuhan 430070, China;
2. No. 722 Research Institute of CSIC, Wuhan 430079, China
关键词:
水面无人艇追捕-逃跑阿波罗尼奥斯圆环境建模逃跑策略回转性能约束条件路径规划
分类号:
TP242
DOI:
10.11990/jheu.201705092
文献标志码:
A
摘要:
针对美国海军的"蜂群"水面无人艇战术,本文研究了水面无人艇在受到多艘敌艇追捕情况下的逃跑路径规划问题。在多障碍物环境模型下,考虑水面无人艇的实际体量和操纵性能约束,提出了一种基于阿波罗尼奥斯圆和安全裕量的敌方水面无人艇威胁区域建模方法。根据威胁区域确定了水面无人艇的被包围状态集和抗追捕-逃跑策略集,并通过两个集合之间的映射关系自主调整逃跑方向。仿真结果表明本文的策略能有效避免我方水面无人艇被敌方捕获,对提高水面无人艇的环境适应性和自主性具有积极意义。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-05-22。
基金项目:国家自然科学基金项目(61374151);湖北省自然科学基金项目(2016CFB502;2015CFB586);中央高校基本科研业务费资金项目(2017-YB-030).
作者简介:苏义鑫(1965-),男,教授,博士生导师;石兵华(1988-),女,博士研究生.
通讯作者:石兵华,E-mail:shibinghua1988@163.com
更新日期/Last Update: 2018-06-01